/*
 * File: J_la_T03_q1.c
 *
 * MATLAB Coder version            : 5.2
 * C/C++ source code generated on  : 23-Apr-2025 08:28:27
 */

/* Include Files */
#include "J_la_T03_q1.h"
#include <math.h>

/* Function Definitions */
/*
 * J_LA_T03_Q1
 *     U31 = J_LA_T03_Q1(IN1,IN2)
 *
 * Arguments    : const double in1[5]
 *                const double in2[5]
 *                double u31[16]
 * Return Type  : void
 */
void J_la_T03_q1(const double in1[5], const double in2[5], double u31[16])
{
  double t10;
  double t11;
  double t12;
  double t13;
  double t14;
  double t15;
  double t16;
  double t16_tmp;
  double t19;
  double t2;
  double t20;
  double t23;
  double t23_tmp;
  double t25;
  double t29;
  double t3;
  double t30;
  double t34;
  double t4;
  double t5;
  double t6;
  double t7;
  double t8;
  double t9;
  /*     This function was generated by the Symbolic Math Toolbox version 8.7.
   */
  /*     09-Apr-2025 18:11:45 */
  t2 = cos(in2[0]);
  t3 = cos(in2[1]);
  t4 = cos(in2[2]);
  t5 = cos(in1[0]);
  t6 = cos(in1[1]);
  t7 = cos(in1[2]);
  t8 = sin(in2[0]);
  t9 = sin(in2[1]);
  t10 = sin(in2[2]);
  t11 = sin(in1[0]);
  t12 = sin(in1[1]);
  t13 = sin(in1[2]);
  t14 = t6 * t11;
  t15 = t11 * t12;
  t16_tmp = t2 * t5;
  t16 = t16_tmp * t6;
  t19 = t5 * t6 * t8;
  t34 = t3 * t5;
  t20 = t34 * t12;
  t23_tmp = t2 * t3;
  t23 = t23_tmp * t15;
  t3 *= t8;
  t25 = t3 * t15;
  t29 = t14 + t20;
  t30 = t15 + -(t34 * t6);
  t3 = t5 * t8 * t12 + t3 * t14;
  t6 = t16_tmp * t12 + t23_tmp * t14;
  t15 = t19 + -t25;
  t34 = t16 + -t23;
  t12 = t4 * t13;
  u31[0] = (-t7 * t29 + t12 * t30) + t5 * t9 * t10 * t13;
  u31[1] = (t7 * t34 - t12 * t6) + t2 * t9 * t10 * t11 * t13;
  u31[2] = (t7 * t15 - t12 * t3) + t8 * t9 * t10 * t11 * t13;
  u31[3] = 0.0;
  t12 = t4 * t7;
  u31[4] = (t13 * t29 + t12 * t30) + t5 * t7 * t9 * t10;
  u31[5] = (-t13 * t34 - t12 * t6) + t2 * t7 * t9 * t10 * t11;
  u31[6] = (-t13 * t15 - t12 * t3) + t7 * t8 * t9 * t10 * t11;
  u31[7] = 0.0;
  t12 = t4 * t5 * t9;
  u31[8] = -t10 * t30 + t12;
  t34 = t10 * t6;
  t15 = t2 * t4 * t9 * t11;
  u31[9] = t34 + t15;
  t6 = t10 * t3;
  t3 = t4 * t8 * t9 * t11;
  u31[10] = t6 + t3;
  u31[11] = 0.0;
  u31[12] =
      ((t14 * -0.01491 - t20 * 0.01491) - t10 * t30 * 0.27898) + t12 * 0.27898;
  u31[13] = ((t16 * 0.01491 - t23 * 0.01491) + t34 * 0.27898) + t15 * 0.27898;
  u31[14] = ((t19 * 0.01491 - t25 * 0.01491) + t6 * 0.27898) + t3 * 0.27898;
  u31[15] = 0.0;
}

/*
 * File trailer for J_la_T03_q1.c
 *
 * [EOF]
 */
